version: 66.06
glider: 523
mission: 4
dive: 263
start: 5 22 113 17 40 6
data:
$ID,523
$MISSION,4
$DIVE,263
$D_SURF,3
$D_FLARE,3
$D_TGT,450
$D_ABORT,520
$D_NO_BLEED,200
$D_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,166
$T_MISSION,180
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51859
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2118.95
$TGT_DEFAULT_LON,-15758
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-41030.039
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,70
$PITCH_MAX,3840
$C_PITCH,2640
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,217
$ROLL_MAX,3847
$ROLL_DEG,40
$C_ROLL_DIVE,1960
$C_ROLL_CLIMB,1975
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,2800
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-44.423622
$PRESSURE_SLOPE,0.00011597706
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.30000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,83
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042940481
$SEABIRD_T_H,0.00062789384
$SEABIRD_T_I,2.2877364e-05
$SEABIRD_T_J,2.3382993e-06
$SEABIRD_C_G,-10.032345
$SEABIRD_C_H,1.1112347
$SEABIRD_C_I,0.0036120038
$SEABIRD_C_J,-0.00017978948
$GPS1,173429,2108.057,-15747.204,16,1.1,16,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-76.1
$GPS2,173949,2108.041,-15747.135,15,1.3,15,9.8
$SPEED_LIMITS,0.157,0.252
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,109.7,8373,-16.7,-9.036
$D_GRID,450
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.74,-146.0,0.0,0.0,0,100,0.00,0.00,-77.18,0.000,6,0.000,0.000,33,1978,3395,0,0,0,0,0,0
$GC,103,-0.74,-146.0,4.2,-7.4,13,118,9.50,2.30,0.00,0.000,4,0.231,0.045,2389,551,3396,0,0,0,0,0,0
$GC,333,-0.74,-146.0,53.9,-15.3,55,339,0.00,2.15,0.00,0.000,6,0.000,0.034,2381,1963,3398,0,0,0,0,0,0
$GC,667,-0.74,-146.0,104.6,-13.0,102,674,0.00,2.28,0.00,0.000,4,0.000,0.053,2381,553,3399,0,0,0,0,0,0
$GC,802,-0.74,-146.0,122.8,-12.4,114,807,0.12,2.15,0.00,0.000,6,0.166,0.035,2404,1966,3400,0,0,0,0,0,0
$GC,1129,-0.74,-146.0,159.9,-11.4,144,1130,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,1967,3400,0,0,0,0,0,0
$GC,1447,-0.74,-146.0,194.3,-10.3,174,1454,0.00,2.25,0.00,0.000,4,0.000,0.052,2405,548,3401,0,0,0,0,0,0
$GC,1474,-0.74,-146.0,197.3,-11.2,176,1478,0.00,2.15,0.00,0.000,6,0.000,0.035,2397,1965,3401,0,0,0,0,0,0
$GC,1790,-0.74,-146.0,228.5,-8.7,192,1794,0.00,2.28,0.00,0.000,4,0.000,0.051,2396,541,3402,0,0,0,0,0,0
$GC,2048,-0.74,-146.0,248.7,-7.7,203,2054,0.00,2.12,0.00,0.000,6,0.000,0.035,2387,1964,3402,0,0,0,0,0,0
$GC,2366,-0.74,-146.0,273.9,-7.8,219,2370,0.00,2.20,0.00,0.000,4,0.000,0.055,2377,3361,3402,0,0,0,0,0,0
$GC,2551,-0.74,-146.0,287.1,-6.9,227,2555,0.00,2.20,0.00,0.000,6,0.000,0.044,2377,1959,3402,0,0,0,0,0,0
$GC,2867,-0.74,-146.0,312.2,-8.6,239,2871,0.00,2.22,0.00,0.000,4,0.000,0.056,2377,545,3401,0,0,0,0,0,0
$GC,2974,-0.74,-146.0,322.7,-8.9,241,2979,0.12,2.12,0.00,0.000,6,0.164,0.038,2400,1960,3402,0,0,0,0,0,0
$GC,3326,-0.74,-146.0,347.1,-6.5,250,3327,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,1961,3401,0,0,0,0,0,0
$GC,3647,-0.74,-146.0,368.2,-7.0,258,3648,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,1961,3399,0,0,0,0,0,0
$GC,3974,-0.74,-146.0,390.5,-7.0,266,3978,0.00,2.20,0.00,0.000,4,0.000,0.058,2392,3360,3398,0,0,0,0,0,0
$GC,4019,-0.74,-146.0,394.2,-8.1,267,4023,0.00,2.17,0.00,0.000,6,0.000,0.043,2392,1961,3398,0,0,0,0,0,0
$GC,4341,-0.74,-146.0,417.5,-7.1,275,4342,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,1961,3395,0,0,0,0,0,0
$GC,4664,-0.74,-146.0,443.4,-8.1,283,4668,0.00,2.25,0.00,0.000,4,0.000,0.064,2392,553,3392,0,0,0,0,0,0
$GC,4719,-0.74,-146.0,448.2,-8.5,284,4724,0.00,2.15,0.00,0.000,6,0.000,0.044,2382,1954,3391,0,0,0,0,0,0
$STATE,4781,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4781,begin apogee
$GC,4788,-0.17,0.0,453.1,7.8,286,4909,0.62,0.00,118.80,0.779,6,0.125,0.000,2582,1954,2799,0,0,0,0,0,0
$STATE,4910,end apogee,CONTROL_FINISHED_OK
$STATE,4910,begin climb
$GC,4913,0.74,146.0,454.6,0.0,289,5048,0.82,2.38,124.93,0.749,4,0.079,0.061,2877,572,2204,0,0,0,0,0,0
$GC,5093,0.74,146.0,433.7,14.9,293,5097,0.00,2.25,0.00,0.000,6,0.000,0.044,2877,1972,2201,0,0,0,0,0,0
$GC,5440,0.74,146.0,383.6,14.3,302,5444,0.00,2.20,0.00,0.000,4,0.000,0.053,2877,3386,2196,0,0,0,0,0,0
$GC,5485,0.74,146.0,377.0,15.2,303,5489,0.00,2.28,0.00,0.000,6,0.000,0.050,2886,1980,2195,0,0,0,0,0,0
$GC,5803,0.74,146.0,333.0,14.0,311,5807,0.00,2.28,0.00,0.000,4,0.000,0.060,2897,558,2194,0,0,0,0,0,0
$GC,5897,0.74,146.0,319.9,14.4,313,5902,0.00,2.20,0.00,0.000,6,0.000,0.038,2897,1981,2193,0,0,0,0,0,0
$GC,6213,0.74,146.0,273.6,14.9,325,6217,0.00,2.17,0.00,0.000,4,0.000,0.053,2897,3379,2193,0,0,0,0,0,0
$GC,6303,0.74,146.0,260.7,13.3,329,6307,0.00,2.20,0.00,0.000,6,0.000,0.041,2906,1969,2191,0,0,0,0,0,0
$GC,6629,0.74,146.0,214.1,14.2,345,6633,0.00,2.20,0.00,0.000,4,0.000,0.059,2915,568,2190,0,0,0,0,0,0
$GC,6684,0.74,146.0,206.0,14.3,347,6691,0.12,2.17,0.00,0.000,6,0.145,0.038,2881,1988,2189,0,0,0,0,0,0
$GC,7010,0.74,146.0,170.8,11.6,376,7011,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,1988,2188,0,0,0,0,0,0
$GC,7330,0.74,146.0,133.8,10.9,406,7337,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,1988,2188,0,0,0,0,0,0
$GC,7659,0.74,146.0,102.0,10.2,437,7666,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,1988,2188,0,0,0,0,0,0
$GC,7990,0.77,175.6,71.3,7.8,477,8018,0.00,0.00,23.10,0.510,6,0.000,0.000,2881,1988,2085,0,0,0,0,0,0
$GC,8344,0.79,188.2,42.3,8.5,542,8363,0.00,2.35,12.20,0.458,4,0.000,0.061,2888,580,2031,0,0,0,0,0,0
$GC,8432,0.81,207.4,34.8,8.2,557,8456,0.00,2.15,17.33,0.462,6,0.000,0.039,2888,1977,1954,0,0,0,0,0,0
$GC,8774,0.81,208.4,5.9,9.0,621,8781,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,1977,1953,0,0,0,0,0,0
$STATE,8803,end climb,SURFACE_DEPTH_REACHED
$STATE,8803,begin surface coast
$FINISH,0.5,1.018561
$STATE,8835,end surface coast,CONTROL_FINISHED_OK
$STATE,8835,begin surface
$SM_CCo,8853,42.50,0.437,0,0,1575,300.24
$SM_GC,1.34,0.00,0.00,42.50,0.000,0.000,0.437,49,1985,1575,-8.10,0.71,300.24
$IRIDIUM_FIX,2054.83,-15802.06,160802,151516
$TT8_MAMPS,0.027612
$HUMID,62.44
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.50
$XPDR_PINGS,1
$24V_AH,24.7,21.591
$10V_AH,10.5,23.645
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,18.550,62.025,296.350,42.500,0.000,24.932,32.374,136.846,19.000,0.000,16.183,1131.719,5218.994,382.186,2054.337,428.990,0.000,1091.585,0.000,2010.442,0.000,117.250,0.000
$DEVICE_MAMPS,230.867,64.428,778.505,437.190,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,429.777,349.364,1245.488,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355616
$DATA_FILE_SIZE,34910,632
$CAP_FILE_SIZE,92719,0
$CFSIZE,260165632,242712576
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,220513,200934,2107.887,-15745.265,33,0.9,33,9.8